Flexible tool for synchronously assembling automobile door

Abstract

The invention discloses a flexible tool for synchronous assembly of automobile doors and belongs to the technical field of automobile assembly.The automobile door assembly device comprises a vacuum suction cup fixing device and a tool car, a three-axis moving sliding table is fixedly arranged on an opposite moving trolley, and the vacuum suction cup fixing device comprises a steering wheel arranged on the three-axis moving sliding table; a turning plate is arranged at the front end of the special-shaped support, a first fixed suction cup and an auxiliary support are arranged on the turning plate, an elastic piece is arranged on the auxiliary support, a supporting cylinder is arranged on the elastic piece, a universal ball is arranged at the top end of the supporting cylinder, an auxiliary suction cup is arranged on the universal ball, and a ball lock air cylinder is arranged in the supporting cylinder. The ball lock air cylinder is provided with a ball lock disc which abuts against the universal ball and is used for locking the rotation of the universal ball, so that the vehicle door fixed on the first fixed suction cup can rotate and turn over in multiple directions at multiple angles, and the assembly work of the vehicle door is greatly facilitated; and meanwhile, the auxiliary suction cup further ensures the stability of the vehicle door fixed on the first fixed suction cup.

Description

Technical Field

[0001] The invention relates to the technical field of automobile assembly, in particular to a flexible tooling for synchronous assembly of automobile doors. Background Art

[0002] At present, in the process of automobile manufacturing, car doors require a variety of equipment for storage, transportation, assembly, etc. For example, when assembling car doors, they need to be transported to the door subassembly area in the assembly workshop through special transport equipment, and need to be manually moved to the assembly equipment for assembly. Therefore, to assemble a car door assembly, it is necessary to use a variety of workstation equipment, and the car door needs to be manually moved between different workstation equipment, resulting in low assembly efficiency and high labor intensity for employees; moreover, different car models have different door structures. Since the workstation equipment between different car models cannot be universal, a large number of workstation equipment must be produced for each car model, resulting in a large occupation of the workshop storage area and a serious waste of resources. It is also easy to cause confusion in the management of workstation equipment. At the same time, the general assembly of car doors is carried out one by one, and the car doors on both sides cannot be assembled simultaneously.

[0003] The existing publication number is CN110126941B, which is a synchronous assembly tool for car doors on both sides of the car, comprising a top frame, a left door assembly device, a right door assembly device, and a mechanism for moving the assembly devices on both sides. The top frame can be slidably arranged on the top of the assembly workshop, and the left door assembly device and the right door assembly device are each connected to the mechanism for moving the assembly devices on both sides through two vertically arranged guide rods, and the upper end of each guide rod is screwed to the mechanism for moving the assembly devices on both sides. The left door assembly device and the right door assembly device each include an assembly vehicle, a three-axis movable slide, a vacuum suction cup door fixing device and a tool vehicle. The present invention can meet different car models and different door installation requirements, does not require manual handling, can automatically adjust the door position, and can adjust the position of the tools on the tool vehicle required for installation according to the installation habits and requirements of different workers, which is convenient and fast, saves labor, and improves work efficiency.

[0004] However, in the existing synchronous assembly tooling for the doors on both sides of a car, the right door assembly device can only be converted in the three directions of Z, X, and Y axes, and the suction cup of the door assembly device supporting the door cannot fit the door well, resulting in instability in the door being fixed on the door assembly device. Summary of the invention

[0005] The purpose to be achieved by the present invention is to provide a flexible tooling for synchronous assembly of automobile doors, so as to solve the problem that some synchronous assembly tooling for automobile doors on both sides has the problem that the right door assembly device can only be converted in three directions of Z, X and Y axes, and the suction cup of the door assembly device supporting the door cannot fit the door well, resulting in instability of the door fixed on the door assembly device.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a flexible tooling for synchronous assembly of automobile doors, comprising a top frame, a pair of opposing movable trolleys symmetrically arranged on the top frame, and a door assembly device arranged on the opposing movable trolley, the opposing movable trolley is connected to the top frame through a guide rod, the door assembly device comprises a three-axis movable slide, a vacuum suction cup fixing device arranged on the three-axis movable slide and a tool trolley, the three-axis movable slide is fixedly arranged on the opposing movable trolley, the vacuum suction cup fixing device comprises a steering wheel arranged on the three-axis movable slide, a special-shaped bracket is arranged on the steering wheel, a flip disk is arranged at the front end of the special-shaped bracket, a first fixed suction cup and an auxiliary bracket are arranged on the flip disk, an elastic member is arranged on the auxiliary bracket, a support tube is arranged on the elastic member, a universal ball is arranged at the top of the support tube, the auxiliary suction cup is arranged on the universal ball, a ball lock cylinder is arranged in the support tube, and a ball lock disk for abutting against the universal ball for locking the rotation of the universal ball is arranged on the ball lock cylinder.

[0007] Furthermore, the vacuum suction cup fixing device also includes an air pump, a flipping motor and a rotating motor. The air pump is arranged on a side of the mobile trolley away from the tool trolley and is connected to the first fixed suction cup and the auxiliary suction cup to transmit air pressure to the first fixed suction cup and the auxiliary suction cup. The rotating motor is connected to the steering wheel to drive the flipping plate to rotate. The flipping motor is fixed on the special-shaped bracket and connected to the flipping plate to drive the flipping plate to flip.

[0008] Furthermore, the three-axis movable slide includes an X-axis linear motion device, a Y-axis linear motion device and a Z-axis linear motion device. The X-axis linear motion device is fixedly arranged on the movable trolley along the length direction of the movable trolley, the Z-axis linear motion device is arranged on the X-axis linear motion device, the Y-axis linear motion device is arranged on the Z-axis linear motion device, and the steering wheel is fixedly arranged on the Z-axis linear motion device.

[0009] Furthermore, the X-axis linear motion device includes an X-axis screw, a first movable bracket arranged on the X-axis screw and moving along the X-axis screw, and an X-axis servo motor for driving the X-axis screw to rotate; the Z-axis linear motion device includes a Z-axis screw arranged between the two first movable brackets, a second movable bracket arranged on the Z-axis screw and moving along the Z-axis screw, and a Z-axis servo motor for driving the Z-axis screw to rotate and driving the second movable bracket to move; the Y-axis linear motion device includes a lifting cylinder arranged below the second movable bracket, an extension plate arranged at the output end of the lifting cylinder, and the steering wheel and the rotating motor are arranged on the extension plate.

[0010] Furthermore, the X-axis linear motion device also includes an X-axis auxiliary guide rod, which is arranged on a side close to the X-axis screw, and the first movable bracket is slidably connected to the X-axis auxiliary guide rod. The Z-axis linear motion device also includes a Z-axis auxiliary guide rod, which is arranged on a side close to the Z-axis screw, and the second movable bracket is slidably connected to the Z-axis auxiliary guide rod.

[0011] Furthermore, the opposing moving mechanism includes two opposing servo motors and two bidirectional screws, the two opposing servo motors are respectively arranged on both sides of the width direction of the top frame and are located at the same end in the length direction of the top frame, the two bidirectional screws are rotatably arranged at the lower end of the top frame and are respectively located at both ends in the width direction of the top frame, the length direction of the two bidirectional screws is consistent with the length direction of the top frame, one end of the two bidirectional screws close to the opposing servo motors passes through the top frame and is connected to the opposing servo motors through a group of sprockets, each group of sprockets is arranged on the corresponding servo motor and the bidirectional screw, the spiral directions of the two ends of each bidirectional screw are opposite, and each bidirectional screw is screwed to the upper ends of the two guide rods at the corresponding positions.

[0012] Furthermore, the tool cart is provided with a synchronous belt slide and a tool tray. The tool tray is arranged on the synchronous belt slide through a lifting device. The lifting device is vertically arranged on the synchronous belt slide. The tool tray is rotatably arranged on the top of the lifting device.

[0013] Compared with the prior art, the beneficial effects of the present invention are:

[0014] 1. The present invention provides a pair of symmetrically arranged opposite moving trolleys on the top frame. The two opposite moving trolleys and two tool trolleys located on both sides of the length direction of the top frame can approach or move away from each other, thereby meeting the door installation requirements of vehicle models of different widths.

[0015] 2. The vacuum suction cup fixing device of the present invention can be rotated along the Y-axis through the steering wheel, and can also be flipped along the Z-axis through the flip plate, so that the door panel placed on the vacuum suction cup fixing device can be rotated and flipped in multiple directions at different angles, which greatly facilitates the assembly of the door. The flip plate is provided with a first fixed suction cup, which has a large area. When the door is placed on the flip plate, the first fixed suction cup serves as the main support point and positioning point, which can preliminarily determine the position of the door on the flip plate and provide a stable support force to ensure the basic stability of the door placement; at the same time, the flip plate is also equipped with a plurality of auxiliary suction cups. These auxiliary suction cups are connected to the flip plate through a universal ball, so that they can be freely rotated at multiple angles. When the car door is placed on the first fixed suction cup, the auxiliary suction cup will be subjected to the pressure of the car door. Since it is connected by a universal ball, it can automatically rotate the angle. And since the auxiliary suction cup is installed on the elastic member, it can adaptively form different height states according to the different shapes of the car door. Through the coordinated cooperation of the elastic member and the universal ball, each auxiliary suction cup can be tightly and completely attached to the surface of the car door, thereby further enhancing the fixing effect of the car door, effectively preventing the displacement or shaking of the car door during the turning and rotation process, and providing reliable guarantee for the precise assembly of the car door. In addition, a ball lock cylinder is arranged in the support tube, and the ball lock cylinder can drive the ball lock disk to lock the universal ball; during the door assembly process, when the door needs to be precisely fixed at a specific angle or position, the ball lock cylinder is started to make the ball lock disk lock the universal ball, thereby limiting the rotation of the auxiliary suction cup, keeping the current position of the door stable, avoiding changes in the door position due to accidental collision or misoperation, greatly improving the accuracy and efficiency of the assembly work, and at the same time broadening the application scope of the device in different complex assembly scenarios, and improving the overall practicality and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below in conjunction with the accompanying drawings:

[0017] Figure 1 It is a schematic diagram of the overall structure of a flexible tooling for synchronous assembly of automobile doors of the present invention;

[0018] Figure 2 This is a schematic diagram of the overall structure of the vehicle door assembly device of the present invention:

[0019] Figure 3 This is a schematic diagram of the overall structure of the vacuum suction cup fixing device of the present invention:

[0020] Figure 4 This is a front view of the vacuum suction cup fixing device of the present invention:

[0021] Figure 5 This is a schematic diagram of the internal structure of the support tube and the elastic member of the present invention:

[0022] Figure 6 A top view of the overall structure of the vehicle door assembly device of the present invention:

[0023] In the figure: 1 top frame, 2 mobile trolley, 3 door assembly device, 31 three-axis mobile slide, 311-X axis linear motion device, 3111-X axis screw, 3112 first mobile bracket, 3113-X axis servo motor, 312-Y axis linear motion device, 3121 lifting cylinder, 3122 extension plate, 313-Z axis linear motion device, 3131-Z axis screw, 3132 second mobile bracket, 3133-Z axis servo motor, 32 vacuum suction cup fixing device, 321 steering wheel, 3 22 special-shaped bracket, 323 flip plate, 324 first fixed suction cup, 325 auxiliary bracket, 326 elastic member, 327 support tube, 3271 ball lock cylinder, 3272 ball lock plate, 328 universal ball, 329 auxiliary suction cup, 33 tool cart, 331 synchronous slide, 332 tool tray, 34 air pump, 35 flip motor, 36 rotating motor, 37-X axis auxiliary guide rod, 38-Z axis auxiliary guide rod, 4 guide rod, 5 opposing moving mechanism, 51 opposing servo motor, 52 bidirectional screw, 53 sprocket. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0025] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined or replaced with each other according to actual conditions, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0026] like Figures 1 to 6As shown, the present invention provides a flexible tooling for synchronous assembly of automobile doors, including a top frame 1 which is a rectangular top frame 1 and can be slidably arranged on the top of a moving trolley 2, the moving trolley 2 is a rectangular moving trolley 2, and a moving roller is arranged at the bottom of the moving trolley 2, which cooperates with the moving trolley 2 to slide, and the moving trolley 2 is connected to the top frame 1 through a vertical guide rod 4, and a door assembly device 3 includes a three-axis moving slide 31, and the three-axis moving slide 31 enables the door assembly device 3 to realize movement in three directions of X, Y, and Z axes, so that the door assembly device 3 can be arranged on a vacuum suction cup fixing device 32 and a tool trolley 33 on the three-axis moving slide 31, and the vacuum suction cup fixing device 32 includes a steering wheel 321 arranged on the three-axis moving slide 31, and the steering wheel 321 can realize rotation, and a special-shaped bracket 322 is arranged on the steering wheel 321, and the upper end of the special-shaped bracket 322 is inclined to the steering wheel. On the outside of the plate 321, a reversing plate 323 is provided on the special-shaped bracket 322. The reversing plate 323 is a fan-shaped structure. The reversing plate 323 can be turned vertically or tilted to the ground on the special-shaped bracket 322, that is, the car door placed on the reversing plate 323 can follow the reversing plate 323 to complete the reversing operation. Through the steering wheel 321 and the reversing plate 323, the car door can be rotated and turned in multiple directions through angles, which greatly facilitates the assembly of the car door. The reversing plate 323 is provided with a first fixed suction cup 324, which has a large area. When the car door is placed on the reversing plate 323, the first fixed suction cup 324, as the main support point and positioning point, can preliminarily determine the position of the car door on the reversing plate 323 and provide a stable supporting force to ensure the basic stability of the car door placement; at the same time, the reversing plate 323 is also equipped with a plurality of auxiliary suction cups 329. These auxiliary suction cups 329 are connected to the reversing plate 323 through a universal ball 328, so that they can be freely rotated at multiple angles.When the vehicle door is placed on the first fixed suction cup 324, the auxiliary suction cup 329 will be subjected to the pressure of the vehicle door. Since it is connected by the universal ball 328, it can automatically rotate the angle. Moreover, since the auxiliary suction cup 329 is installed on the elastic member 326, it can adaptively form different height states according to the different shapes of the vehicle door. Through the coordinated cooperation of the elastic member 326 and the universal ball 328, each auxiliary suction cup 329 can be tightly and completely attached to the surface of the vehicle door, thereby further enhancing the fixing effect of the vehicle door, effectively preventing the displacement or shaking of the vehicle door during the turning and rotating process, and providing reliable guarantee for the precise assembly of the vehicle door. In addition, A ball lock cylinder 3271 is provided in the support tube 327, and the ball lock cylinder 3271 can drive the ball lock disk 3272 to lock the universal ball 328; during the door assembly process, when the door needs to be precisely fixed at a specific angle or position, the ball lock cylinder 3271 is started to make the ball lock disk 3272 lock the universal ball 328, thereby limiting the rotation of the auxiliary suction cup 329, keeping the current position of the door stable and unchanged, avoiding changes in the door position due to accidental collision or misoperation, greatly improving the accuracy and efficiency of the assembly work, and at the same time broadening the application scope of the device in different complex assembly scenarios, and improving the overall practicality and safety.

[0027] The auxiliary support frame 325 is used to support the auxiliary suction cup 329, and the elastic member 326 is provided with a guide column and a spring inside.

[0028] The vacuum suction cup fixing device 32 also includes an air pump 34, a flip motor 35 and a rotating motor 36. The air pump 34 is arranged on the side of the mobile trolley 2 away from the tool trolley 33 and is connected to the first fixed suction cup 324 and the auxiliary suction cup 329 to transmit air pressure to the first fixed suction cup 324 and the auxiliary suction cup 329. The rotating motor 36 is connected to the steering wheel 321 to drive the flip disk 323 to rotate. The flip motor 35 is fixed on the special-shaped bracket 322 and is connected to the flip The turntable 323 is connected to drive the flip plate 323 to flip; the air pump 34 is used to transmit air pressure to the first fixed suction cup 324 and the auxiliary suction cup 329 so that the suction cups can suck the car door, thereby ensuring the installation stability of the car door, the flip motor 35 is used to drive the flip plate 323 to flip at multiple angles, and the rotating motor 36 is used to drive the steering wheel 321 to turn at multiple angles, so that the car door fixed on the first fixed suction cup 324 can not only move in the X, Y, and Z axes but also turn and flip, thereby meeting the assembly requirements.

[0029] The X-axis linear motion device 311 includes an X-axis screw 3111, a first movable bracket 3112 disposed on the X-axis screw 3111 and moving along the X-axis screw 3111, and an X-axis servo motor 3113 for driving the X-axis screw 3111 to rotate, so that the door can move in the X-axis direction. The Z-axis linear motion device 313 includes a Z-axis screw 3131 disposed between two of the first movable brackets 3112, a second movable bracket 3132 disposed on the Z-axis screw 3131 and moving along the Z-axis screw 3131, and an X-axis servo motor 3113 for driving the Z-axis screw 3111 to rotate. The rod 3131 rotates to drive the Z-axis servo motor 3133 that drives the second movable bracket 3132 to move, so that the car door can move in the Z-axis direction. The Y-axis linear motion device 312 includes a lifting cylinder 3121 arranged below the second movable bracket 3132, and an extension plate 3122 arranged at the output end of the lifting cylinder 3121. The steering wheel 321 and the rotating motor 36 are arranged on the extension plate 3122. The setting of the extension plate 3122 ensures that the flip plate 323 and the steering wheel 321 can move on the Y-axis without interfering with the second movable bracket 3132.

[0030] The X-axis linear motion device 311 also includes an X-axis auxiliary guide rod 37, which is arranged on a side close to the X-axis screw 3111, and the first mobile bracket 3112 is slidably connected to the X-axis auxiliary guide rod 37. The Z-axis linear motion device 313 also includes a Z-axis auxiliary guide rod 38, which is arranged on a side close to the Z-axis screw 3131, and the second mobile bracket 3132 is slidably connected to the Z-axis auxiliary guide rod 38; the X-axis auxiliary guide rod 37 provides a precise guide path for the movement of the first mobile bracket 3112 in the X-axis direction. When the X-axis screw 3111 rotates to drive the first mobile bracket 3112 to move, the X-axis auxiliary guide rod 37 ensures that the first mobile bracket 3112 moves along a predetermined X-axis linear trajectory, prevents it from deviating or shaking, and ensures the linearity and stability of the movement. The Z-axis auxiliary guide rod 38 plays a similar guiding role for the second mobile bracket 3132 in the Z-axis direction. When the Z-axis screw 3131 drives the second movable bracket 3132 to move, the Z-axis auxiliary guide rod 38 makes the second movable bracket 3132 move strictly in the straight line direction of the Z-axis to avoid movement deviation caused by external interference or other factors. At the same time, the X-axis auxiliary guide rail and the Z-axis guide rod can share part of the radial force for the X-axis screw 3111 and the Z-axis screw 3131, which is beneficial to extend the service life of the screw and can improve the reliability and stability of the entire linear motion device when bearing large loads.

[0031] The opposing moving mechanism 5 includes two opposing servo motors 51 and two bidirectional screws 52. The two opposing servo motors 51 are respectively arranged on both sides of the top frame 1 in the width direction and are located at the same end of the top frame 1 in the length direction. The two bidirectional screws 52 are rotatably arranged at the lower end of the top frame 1 and are respectively located at the two ends of the top frame 1 in the width direction. The length direction of the two bidirectional screws 52 is consistent with the length direction of the top frame 1. One end of the two bidirectional screws 52 close to the opposing servo motors 51 passes through the top frame 1 and the opposing servo motors 51 are connected to each other through a set of sprockets 53. Transmission connection, each group of sprockets 53 is arranged on the corresponding servo motor and the bidirectional screw 52, ​​the spiral directions of the two ends of each bidirectional screw 52 are opposite, and each bidirectional screw 52 is screwed to the upper ends of the two guide rods 4 at the corresponding positions; Working principle: the sprocket 53 group and the bidirectional screw 52 are driven to rotate by two servo motors, so that the two guide rods 4 located on the same side of the width direction of the top frame 1 move toward each other, and then the two mobile carts 2 and the two tool carts 33 located on both sides of the length direction of the top frame 1 are moved closer or farther away from each other, so as to meet the door installation requirements of vehicle models with different widths.

[0032] The working principle of the present invention is as follows: in the door assembly device 3, the first fixed suction cup 324 of the vacuum suction cup fixing device 32 determines the initial position of the door and supports it, the auxiliary suction cup 329 cooperates with the universal ball 328 and the elastic member 326 to adaptively fit the door to enhance the fixing effect, the ball lock cylinder 3271 can lock the universal ball 328 to accurately fix the door, the air pump 34, the rotating motor 36, and the flip motor 35 respectively supply pressure to the suction cup, drive the steering wheel 321 to rotate, and drive the flip plate 323 to flip, and cooperate with the three-axis moving slide 31 to realize the X, Y, and Z axis movement of the door; at the same time, the X-axis and Z-axis linear motion devices realize precise linear motion with the help of screws, servo motors and corresponding auxiliary guide rods, and the Y-axis linear motion device drives the extension plate 3122 to move through the lifting cylinder 3121. The opposing moving mechanism 5 relies on two opposing servo motors 51 to drive the sprocket 53 group and the bidirectional screw 52 to rotate, so that the guide rod 4 drives the moving trolley 2 and the tool trolley 33 to move towards each other to meet the installation requirements of vehicle doors of different widths. All parts work together to ensure the precise assembly of the vehicle doors.

[0033] The above contents are some specific implementation modes of the present invention and do not limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A flexible tooling for synchronous assembly of automobile doors, comprising a top frame, a pair of symmetrically arranged oppositely movable trolleys on the top frame, and a door assembly device arranged on the oppositely movable trolleys, wherein the oppositely movable trolleys are connected to the top frame through guide rods, and characterized in that: The door assembly device includes a three-axis movable slide, a vacuum suction cup fixing device arranged on the three-axis movable slide and a tool cart, the three-axis movable slide is fixedly arranged on the opposite movable cart, the vacuum suction cup fixing device includes a steering wheel arranged on the three-axis movable slide, the steering wheel is provided with a special-shaped bracket, the front end of the special-shaped bracket is provided with a flip plate, the flip plate is provided with a first fixed suction cup and an auxiliary bracket, the auxiliary bracket is provided with an elastic member, the elastic member is provided with a support tube, the top end of the support tube is provided with a universal ball, the universal ball is provided with an auxiliary suction cup, a ball lock cylinder is provided in the support tube, and the ball lock cylinder is provided with a ball lock disk for abutting against the universal ball for locking the rotation of the universal ball.

2. The flexible tooling for synchronous assembly of automobile doors according to claim 1, characterized in that: The vacuum suction cup fixing device also includes an air pump, a flip motor and a rotating motor. The air pump is arranged on a side of the mobile trolley away from the tool trolley and is connected to the first fixed suction cup and the auxiliary suction cup to transmit air pressure to the first fixed suction cup and the auxiliary suction cup. The rotating motor is connected to the steering wheel to drive the flip plate to rotate. The flip motor is fixed on the special-shaped bracket and is connected to the flip plate to drive the flip plate to flip.

3. The flexible tooling for synchronous assembly of automobile doors according to claim 2, characterized in that: The three-axis movable slide comprises an X-axis linear motion device, a Y-axis linear motion device and a Z-axis linear motion device. The X-axis linear motion device is fixedly arranged on the movable trolley along the length direction of the movable trolley, the Z-axis linear motion device is arranged on the X-axis linear motion device, the Y-axis linear motion device is arranged on the Z-axis linear motion device, and the steering wheel is fixedly arranged on the Z-axis linear motion device.

4. The flexible tooling for synchronous assembly of automobile doors according to claim 3, characterized in that: The X-axis linear motion device includes an X-axis screw, a first movable bracket arranged on the X-axis screw and moving along the X-axis screw, and an X-axis servo motor for driving the X-axis screw to rotate; the Z-axis linear motion device includes a Z-axis screw arranged between two of the first movable brackets, a second movable bracket arranged on the Z-axis screw and moving along the Z-axis screw, and a Z-axis servo motor for driving the Z-axis screw to rotate and drive the second movable bracket to move; the Y-axis linear motion device includes a lifting cylinder arranged below the second movable bracket, an extension plate arranged at the output end of the lifting cylinder, and the steering wheel and the rotating motor are arranged on the extension plate.

5. The flexible tooling for synchronous assembly of automobile doors according to claim 4, characterized in that: The X-axis linear motion device also includes an X-axis auxiliary guide rod, which is arranged on a side close to the X-axis screw rod, and the first movable bracket is slidably connected to the X-axis auxiliary guide rod. The Z-axis linear motion device also includes a Z-axis auxiliary guide rod, which is arranged on a side close to the Z-axis screw rod, and the second movable bracket is slidably connected to the Z-axis auxiliary guide rod.

6. The flexible tooling for synchronous assembly of automobile doors according to claim 1, characterized in that: It also includes an opposing moving mechanism, which includes two opposing servo motors and two bidirectional screws. The two opposing servo motors are respectively arranged on both sides of the width direction of the top frame and are located at the same end in the length direction of the top frame. The two bidirectional screws are rotatably arranged at the lower end of the top frame and are respectively located at the two ends in the width direction of the top frame. The length direction of the two bidirectional screws is consistent with the length direction of the top frame. One end of the two bidirectional screws close to the opposing servo motors passes through the top frame and is connected to the opposing servo motors through a group of sprockets. Each group of sprockets is arranged on the corresponding servo motor and the bidirectional screw. The spiral directions of the two ends of each bidirectional screw are opposite, and each bidirectional screw is screwed to the upper ends of the two guide rods at the corresponding positions.

7. The flexible tooling for synchronous assembly of automobile doors according to claim 1, characterized in that: The tool cart is provided with a synchronous belt slide and a tool tray. The tool tray is arranged on the synchronous belt slide through a lifting device. The lifting device is vertically arranged on the synchronous belt slide. The tool tray is rotatably arranged on the top of the lifting device.

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